Output-Based Centralized Longitudinal CACC Systems with Wireless Communication Delay and Actuator Delay

Abstract

The centralized longitudinal control problem for Cooperative Adaptive Cruise Control (CACC) systems is discussed in this paper, in which the imperfect wireless communication surroundings and actuator dynamics are taken into consideration. From the large-scale system standpoint, the centralized longitudinal control problem for platoon vehicles equipped with CACC functionality is formulated as minimizing a quadratic performance index under the constrains of a large-scale discrete-time system with actuator delay and system output delay, in which the leader vehicle is set as the control center. After that, benefiting from a designed delay-free transformed vector, a delay-free two-point-boundary-value problem is derived from the equivalent reconstruction forms for original system delay model and performance index. Thus the centralized longitudinal controller is obtained by solving a Riccati equation. Finally, simulation results demonstrate that the ego vehicle can reasonable response the accelerating or decelerating behaviors of the preceding vehicles under the proposed controller, thereby the desired CACC control performance is satisfied, and the wireless communication delay and actuator delay are compensated effectively.